Merge pull request #2492 from SergioRAgostinho/ply-mesh-io

vtk2mesh: Add parsing support to the new RGBA scalar field added in vtk8
PointCloudLibrary · Sep 29, 2018 · 362183a · 362183a
2 parents 8bf8edb + 85e73ec
commit 362183a
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Showing 2 changed files with 25 additions and 11 deletions.
diff --git a/io/src/vtk_lib_io.cpp b/io/src/vtk_lib_io.cpp
@@ -288,31 +288,37 @@ pcl::io::vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::PolygonMe
   // Then the color information, if any
   vtkUnsignedCharArray* poly_colors = NULL;
   if (poly_data->GetPointData() != NULL)
+  {
     poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("Colors"));
 
-  // some applications do not save the name of scalars (including PCL's native vtk_io)
-  if (!poly_colors && poly_data->GetPointData () != NULL)
-    poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("scalars"));
+    // some applications do not save the name of scalars (including PCL's native vtk_io)
+    if (!poly_colors)
+      poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("scalars"));
+
+    if (!poly_colors)
+      poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("RGB"));
 
-  if (!poly_colors && poly_data->GetPointData () != NULL)
-    poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("RGB"));
+    if (!poly_colors)
+      poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("RGBA"));
+  }
 
-  // TODO: currently only handles rgb values with 3 components
-  if (poly_colors && (poly_colors->GetNumberOfComponents () == 3))
+  if (poly_colors && (poly_colors->GetNumberOfComponents () == 3 || poly_colors->GetNumberOfComponents () == 4))
   {
     pcl::PointCloud<pcl::RGB>::Ptr rgb_cloud (new pcl::PointCloud<pcl::RGB> ());
     rgb_cloud->points.resize (nr_points);
     rgb_cloud->width = static_cast<uint32_t> (rgb_cloud->points.size ());
     rgb_cloud->height = 1;
     rgb_cloud->is_dense = true;
 
-    unsigned char point_color[3];
+    unsigned char point_color[4] = {0, 0, 0, 255};
     for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints (); i++)
     {
       poly_colors->GetTupleValue (i, &point_color[0]);
-      rgb_cloud->points[i].r = point_color[0];
-      rgb_cloud->points[i].g = point_color[1];
-      rgb_cloud->points[i].b = point_color[2];
+      // individual component copy due to different memory layout
+      (*rgb_cloud)[i].r = point_color[0];
+      (*rgb_cloud)[i].g = point_color[1];
+      (*rgb_cloud)[i].b = point_color[2];
+      (*rgb_cloud)[i].a = point_color[3];
     }
 
     pcl::PCLPointCloud2 rgb_cloud2;

diff --git a/test/io/test_ply_mesh_io.cpp b/test/io/test_ply_mesh_io.cpp
@@ -116,6 +116,9 @@ TEST (PCL, PLYPolygonMeshIO)
       EXPECT_EQ (mesh_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
     }
   }
+
+  remove ("test_mesh_ascii.ply");
+  remove ("test_mesh_binary.ply");
 }
 
 TEST (PCL, PLYPolygonMeshColoredIO)
@@ -276,6 +279,11 @@ TEST (PCL, PLYPolygonMeshColoredIO)
       EXPECT_EQ (mesh_rgba_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
     }
   }
+
+  remove ("test_mesh_rgb_ascii.ply");
+  remove ("test_mesh_rgba_ascii.ply");
+  remove ("test_mesh_rgb_binary.ply");
+  remove ("test_mesh_rgba_binary.ply");
 }
 
 /* ---[ */